In that version there is no special support for heads in NX (use normal devices) and no extra support from CSE kernel head commands.

Mounting of objects (e.g. heads) need to be done using the grasp command.

The offset calculation of the head geometry need to be done "by hand" and added into a transformation e.g. $TOOL including the tool length compensation.

To go more in detail here on the forum is not the right place to discuss that. Unfortunately I do not have any documents. It’s a bit self-training needed here and I know that other partners and service people have done it.